Controlling powered human augmentation devices

ABSTRACT

In a communication system for controlling a powered human augmentation device, a parameter of the powered device is adjusted within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter. The target range is selected and the device parameters are controlled such that the powered device can normalize or augment human biomechanical function, responsive to a wearer&#39;s activity, regardless of speed and terrain and, in effect, provides at least a biomimetic response to the wearer of the powered device.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No. 13/349,216, filed on Jan. 12, 2012, entitled “Controlling Powered Human Augmentation Devices” which claims priority to and the benefit of U.S. Provisional Patent Application Ser. No. 61/432,093, filed on Jan. 12, 2011, entitled “User Interface For Adjusting A Prosthesis Or Orthosis” the entire contents of each of which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

This invention relates generally to powered human augmentation devices, such as lower-extremity prosthetic orthotic, or exoskeleton apparatus, designed to emulate human biomechanics and to normalize function, components thereof, and methods for controlling the same.

BACKGROUND

Approximately 65% of service members seriously injured in Iraq and Afghanistan sustain injuries to their extremities. Many of these individuals experience muscle tissue loss and/or nerve injury, resulting in the loss of limb function or substantial reduction thereof. Injuries to the lower leg can be particularly devastating, due to the critical importance of the ankle in providing support for body position and in propelling the body forward economically during common functions, such as level-ground walking and the ascent and descent of stairs and slopes.

Increasingly, robotic technology is employed in the treatment of individuals suffering from physical disability, either for the advancement of therapy tools or as permanent assistive devices. An important class of robotic devices provides therapy to the arms of stroke patients. Additionally, lower-extremity robotic devices have been developed for the enhancement of locomotor function. Although decades of research has been conducted in the area of active permanent assistive devices for the treatment of lower-extremity pathology, many of these devices are not designed to produce a biomimetic response, generally described in terms of joint torque, joint angle, and other related parameters as observed in a human not having substantial muscle tissue injury and not using any device to assist in ambulation. Therefore, these robotic devices may cause discomfort to the wearer. The commercially available ankle-foot orthotic devices are generally passive, non-adaptive devices.

Some powered prosthetic and orthotic devices have been described in co-pending U.S. patent application Ser. No. 12/157,727 “Powered Ankle-Foot Prosthesis” filed on Jun. 12, 2008 (Publication No. US2011/0257764 A1); co-pending U.S. patent application Ser. No. 12/552,013 “Hybrid Terrain-Adaptive Lower-Extremity Systems” filed on Sep. 1, 2009 (Publication No. US2010/0179668 A1); co-pending U.S. patent application Ser. No. 13/079,564 “Controlling Power in a Prosthesis or Orthosis Based on Predicted Walking Speed or Surrogate for Same” filed on Apr. 4, 2011; co-pending U.S. patent application Ser. No. 13/079,571 “Controlling Torque in a Prosthesis or Orthosis Based on a Deflection of Series Elastic Element” filed on Apr. 4, 2011; and co-pending U.S. patent application Ser. No. 13/347,443 “Powered Joint Orthosis” filed on Jan. 10, 2012. These powered devices are adopted to provide at least a biomimetic response and can eliminate or mitigate slapping of the foot after heel strike (foot slap) and dragging of the toe during swing (toe drag). In general, a biomimetic response refers to a range of responses from humans and can vary according to the wearer of the powered device and the nature and environment of the wearer's activity. As such, even the powered devices described above need to be tailored or calibrated to the wearer so as to reliably provide a biomimetic response. Therefore, there is a need for systems and methods of controlling permanent assistive devices for the treatment of lower-extremity pathology to achieve optimal wearer comfort and satisfaction.

SUMMARY

In various embodiments, the present invention provides systems and methods that can dynamically control a powered prosthetic/orthotic human augmentation device, such that the device can provide and maintain at least a biomimetic response during the wearer's activity. This is achieved, in part, by recording within a gait cycle typical ranges of various ambulation-related parameters in humans not having substantial muscle tissue injury and not using any device to assist in ambulation. A user interface is provided that enables an operator, the wearer, or another person to adjust various parameters of the powered device such that the response of the powered device, as described in terms of the ambulation-related parameters, is substantially similar to the recorded ranges of those parameters, i.e., at least biomimetic. These adjustments may be carried out in a training mode, during actual use, or both. The parameters of the powered device may also be adjusted or modified according to the wearer's characteristics, such as weight, desired walking speed, etc. and/or according to ambulation patterns, such as slow walking, walking in incomplete steps or shuffling, etc. Moreover, the parameters of the powered device may also be adjusted or modified according to terrain and activity, e.g., walking upslope, downslope, ascending and/or descending stairs, etc. Accordingly, a biomimetic response of the powered prosthetic/orthotic device can be maintained throughout the duration of the wearer's activity, regardless of terrain, walking speed, etc.

In one aspect, embodiments of the invention feature a method of controlling a powered human augmentation device. The method includes adjusting a parameter of the powered device within a gait cycle by wirelessly transmitting a control signal thereto. After adjustment based on the control signal, the adjusted parameter falls within a target range corresponding to that parameter, providing at least a biomimetic response to a wearer of the powered device. The parameter may be net work, toe-off angle, peak power applied by the powered device, or timing of the peak power relative to the gait cycle. In some embodiments, more than one or even all of these parameters are adjusted. The target range corresponding to the parameter may be a function of ambulation speed and/or ambulation pattern. The adjusting step may also be based, at least in part, on one or more of the ambulation speed, ambulation pattern, terrain, and activity. The activity may include walking on level ground, walking on uneven ground, walking upslope, walking downslope, ascending stairs, and/or descending stairs.

In some embodiments, the adjusting step is related to one or more of weight of the wearer, early-stance stiffness, power applied by the powered device, timing of application of power, hard-stop sensitivity, and a speed threshold for low-power mode of the powered device. The adjusted parameter may also include a gain in a positive force-feedback control loop that can adjust the power applied by the powered device and/or an exponent in a positive force-feedback that can adjust the timing of the application of power.

In some embodiments, the method includes the step of receiving a data signal from the powered device, such that adjusting the parameter is based at least in part on the received data signal. The received data signal may be related to one or more of rate of plantar flexion, heel rise, and ambulation-step length. The control signal may be transmitted during a training mode, a use mode, or both. The method may also include the step of storing the transmitted control signal for subsequent retransmission thereof.

In another aspect, a communication system for interfacing with a powered human augmentation device includes a wireless transmitter for adjusting a parameter of the powered device. The parameter is adjusted within a gait cycle by transmitting a control signal to the powered device, such that the adjusted parameter falls within a target range corresponding to that parameter. This provides at least a biomimetic response to a wearer of the powered device.

The parameter may be net work, toe-off angle, peak power applied by the powered device, or timing of the peak power relative to the gait cycle. In some embodiments, more than one or even all of these parameters are adjusted. The target range corresponding to the parameter may be a function of ambulation speed and/or ambulation pattern. The adjustment of the parameter may also be based, at least in part, on one or more of the ambulation speed, ambulation pattern, terrain, and activity. The activity may include walking on level ground, walking on uneven ground, walking upslope, walking downslope, ascending stairs, and/or descending stairs.

In some embodiments, the parameter adjustment is related to one or more of weight of the wearer, early-stance stiffness, power applied by the powered device, timing of application of power, hard-stop sensitivity, and a speed threshold for low-power mode of the powered device. The adjusted parameter may also include a gain in a positive force-feedback control loop that can adjust the power applied by the powered device and/or an exponent in a positive force-feedback that can adjust the timing of the application of power.

In some embodiments, the communication system includes a receiver for receiving a data signal from the powered device, such that adjusting the parameter is based at least in part on the received data signal. The received data signal may be related to one or more of rate of plantar flexion, heel rise, and ambulation-step length. The control signal may be transmitted during a training mode, a use mode, or both. The communication may also store the transmitted control signal for subsequent retransmission thereof.

The powered augmentation device may be a prosthetic device or an orthotic device, such as an exoskeleton. In some embodiments, the wireless transmitter is adapted to transmit the control signal to a second powered human augmentation device. The wireless transmitter may include a transmitter of a mobile device, and the mobile device can be a cell phone, a personal digital assistant, or a tablet PC.

In yet another aspect, various embodiments feature an article of manufacture, including a non-transitory machine-readable medium storing instructions. The instructions, when executed by a processor, configure the processor to adjust a parameter of the powered device within a gait cycle by wirelessly transmitting a control signal thereto. After adjustment based on the control signal, the adjusted parameter falls within a target range corresponding to that parameter, providing at least a biomimetic response to a wearer of the powered device.

These and other objects, along with advantages and features of the embodiments of the present invention herein disclosed, will become more apparent through reference to the following description, the accompanying drawings, and the claims. Furthermore, it is to be understood that the features of the various embodiments described herein are not mutually exclusive and can exist in various combinations and permutations. As used herein, the term “substantially” means ±10% and, in some embodiments, ±5%.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings, like reference characters generally refer to the same parts throughout the different views. Also, the drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the principles of the invention. In the following description, various embodiments of the present invention are described with reference to the following drawings, in which:

FIG. 1 depicts an exemplary prosthetic device and a communication system according to one embodiment;

FIGS. 2a-2d depict various joint parameters within a gait cycle, describing respective biomimetic responses;

FIGS. 3a-3e depict steps of adjusting various parameters of a powered device according to one embodiment; and

FIG. 4 shows various parameters of a powered device that may be adjusted, and the ranges of those parameters, according to one embodiment.

DESCRIPTION

The entire contents of each of U.S. patent application Ser. No. 12/157,727 “Powered Ankle-Foot Prosthesis” filed on Jun. 12, 2008 (Publication No. US2011/0257764 A1); U.S. patent application Ser. No. 12/552,013 “Hybrid Terrain-Adaptive Lower-Extremity Systems” filed on Sep. 1, 2009 (Publication No. US2010/0179668 A1); U.S. patent application Ser. No. 13/079,564 “Controlling Power in a Prosthesis or Orthosis Based on Predicted Walking Speed or Surrogate for Same” filed on Apr. 4, 2011; U.S. patent application Ser. No. 13/079,571 “Controlling Torque in a Prosthesis or Orthosis Based on a Deflection of Series Elastic Element” filed on Apr. 4, 2011; and U.S. patent application Ser. No. 13/347,443 “Powered Joint Orthosis” filed on Jan. 10, 2012 are incorporated herein by reference. FIG. 1 shows a BiOM™ Ankle 102, a powered prosthetic ankle available from iWalk, Inc. (Bedford, Mass.), and a smart phone 104 for controlling/tuning various parameters of the BiOM Ankle 102. The smart phone 104 includes a transmitter 106 for sending one or more control signals to the BiOM Ankle 102, whereby one or more parameters of the BiOM Ankle 102 can be adjusted. The smart phone 104 also includes a receiver 108 for receiving parameter values as data signals from the BiOM Ankle 102 which has a corresponding transmitter and receiver capability. These data signals can be used to adjust the values of the corresponding and/or other parameters of the MOM Ankle 102. To facilitate convenient adjustment of various parameters, the BiOM Ankle 102 provides a user interface that includes a software application and firmware. The software application, implemented in Java for the Android 2.1 Operating System, may be run on the smart phone 104. The software application builds a packet structure that is sent out over Android's Bluetooth hardware interface. Corresponding software on the BiOM Ankle 102, written in C and stored in the firmware of the BiOM Ankle 102, receives commands from the same packet structure, and adjusts the operation of the BiOM Ankle 102 accordingly.

It should be understood that the BiOM Ankle 102 and the smart phone 104 are illustrative only and, in general, a powered human augmentation device can be any powered prosthetic, orthotic and/or exoskeleton device that can assist in ankle, knee, and/or hip function. Uses in other joint devices are also contemplated. The communication system, in general, can be any mobile communication device capable of communicating with the powered device. Exemplary mobile communication devices include smart phones, personal digital assistants (PDAs, such as a BlackBerry), tablet computers, etc. The communication between the communication system and the powered device may be established via wireless link such as Bluetooth, WiFi, etc., or via a wired link. The software applications run on the BiOM Ankle 102 and the smart phone 104 may also be written in any other programming languages and/or may be provided as circuitry.

Various parameters of the BiOM Ankle 102 (or in any powered human augmentation device, in general) are controlled using the smart phone 104, such that the BiOM Ankle 102 produces at least a biomimetic response. Such a response may enable a wearer of the powered device to ambulate in a natural manner, e.g., in a manner in which a typical human not using a powered device walks (i.e., slowly or briskly), ascends/descends stairs, etc. In addition to enabling ambulation with a natural feel, a powered device producing at least a biomimetic response can also decrease stress on other body parts of the human, e.g., on knees and hips while using the BiOM Ankle 102. As a result, net metabolic cost of transport to the wearer can be minimized.

In one embodiment, a biomimetic response of a human can be characterized by four parameters, namely, net work, toe-off angle, peak power, and peak-power timing. Each of these parameters varies according to the human's ambulation speed, Net work is the time integral of mechanical power applied by the powered device (e.g., the BiOM Ankle 102) during one ambulation step (i.e., gait cycle). FIG. 2a shows that for typical humans, who do not have injured muscle tissue and do not use a powered augmentation device, the net work normalized according to the human's weight varies according to the walking speed, but stays within a certain range. For example, at a walking speed of about 1.5 m/s, the normalized net work may be in the range of about 0.1-0.25 J/kg, and at a walking speed of about 2 m/s the normalized net work may be in the range of about 0.2-0.4 J/kg.

A net-work response of a powered augmentation device is biomimetic if the net work produced by the device remains within a range corresponding to the ambulation speed, i.e., substantially within the dashed lines 202, 204. If the net-work response of the powered device falls outside the range indicated by the lines 202, 204, one or more parameters of the device can be tuned using the communication system, e.g., the smart phone 104, (as described below), such that the net work is adjusted to fall within a desired range.

FIG. 2b depicts a relationship between the toe-off angle and walking speed for a typical human. If the toe-off angle while using a powered augmentation device is not substantially the same as that indicated by the dashed line 206, the foot may not be plantarflexing sufficiently. Therefore, one or more parameters of the powered device (e.g., BiOM Ankle 102) may be tuned using the smart phone 104.

FIGS. 2c and 2d depict the peak power delivered by a typical human and timing within a gait cycle at which the peak power is delivered, respectively. If the peak power to the ankle (a joint, in general) delivered by a powered augmentation device does not fall within the range indicated by the dashed lines 208, 210, the wearer receives too little or too much power. If the powered augmentation device delivers the peak power at a time less than that indicated by line 212, the peak power may be delivered too early, i.e., significantly before the time at which the powered plantar flexion state of the gait cycle begins. In this case, the wearer might feel that the ankle is lifting up but not pushing/propelling forward sufficiently. On the other hand, if the powered augmentation device delivers the peak power at a time substantially greater than that indicated by the line 212, the peak power may be delivered too late, i.e., significantly after the time at which the powered plantar flexion state of the gait cycle begins. In this case, the wearer might feel that the ankle is pushing forward but not lifting up sufficiently.

In any of the scenarios describe above, unlike a typical human, the wearer may not receive adequate power to the ankle at the time of toe off, resulting in unnatural ambulation. Therefore, one or more parameters of the powered device may be adjusted such that at a certain ambulation speed the peak power applied by the device remains substantially within the range indicated by the dashed lines 208, 210. Moreover, one or more parameters may also be adjusted such that the timing within the gait cycle at which the powered device delivers the peak power corresponds generally to that indicated by the line 212.

In general, by tuning one or more parameters of the powered augmentation device using a communication system, each of the net work, toe-off angle, peak power, and peak power timing can be adjusted, such that the powered device delivers at least a biomimetic response to the wearer. In some instances, the parameters such as the peak power and peak power timing can be adjusted directly. In other instances, other related parameters, e.g., heel stiffness, are adjusted using the communication system, which in turn causes an adjustment of the parameters described with reference to FIGS. 2a -2 d.

With reference to FIGS. 3a -3 e, in an exemplary tuning process 300, a communication system (phone for convenience, hereafter) scans for a powered augmentation device within the phone's range, in step 302. When any such devices are located, one of them may be selected and a Bluetooth connection is established with that device in step 304, pairing the phone with the selected powered device. In general, the phone can be paired with more then one powered devices. In step 306, the wearer's ID and weight are entered and the transmitter of the phone may supply the weight to the paired power device by sending a control signal thereto. The wearer's weight may range from about 100 lbs up to about 300 lbs. Various parameters of the powered device adjusted subsequently may be adjusted according to the wearer's weight.

In step 308, a powered ankle device is tuned by selecting “Tune Ankle.” In other embodiments, other joints such as knee or hip may be tuned alternatively or in addition. In step 310, the wearer walks at a self-selected walking speed (SSWS), and an operator i.e., the wearer himself/herself or another person (clinician, researcher, etc.) adjusts “stiffness,” e.g., by gradually increasing it from zero. In response, the rate of plantar flexion may change, which is observed by the operator, or the wearer may inform it to the operator. In some embodiments, a sensor of the powered device may sense the rate of plantar flexion and may transmit a corresponding data signal to the phone. The phone may then display the sensed rate to the operator. In the step 308, the operator adjusts the stiffness so as to achieve a desired rate of plantar flexion which, in turn, adjusts one or more of the net work, toe-off angle, peak power, and peak power timing.

In step 312, the power applied by the powered augmentation device is adjusted by asking the wearer to walk at SSWS. The operator gradually increases the power from an initial value (e.g., zero percent) until the wearer verifies that powered plantar flexion is engaged correctly, i.e., adequate power is received approximately at the time the ankle dorsiflexion is at a maximum level. Increasing (decreasing) the power may include increasing (decreasing) a gain parameter in a positive-feedback system of the powered device that delivers the power. In some embodiments, correct engagement of the powered plantar flexion can be verified by analyzing various sensors signals detected by the powered augmentation device and transmitted to the communication system as data signals. The received data signals may relate to parameters such as heel rise, walking-step length, and tracking performed during the swing phase. The operator may also manually (e.g., visually) compare values of these parameters with their values corresponding to a previous power setting, so as to identify the power setting that results in at least a biomimetic response as described above and/or the wearer's preference.

The timing at which peak power is applied by the powered augmentation device (e.g., the BiOM Ankle 102 shown in FIG. 1) is adjusted in step 314 by asking the wearer to walk at SSWS. The operator adjusts the “Power Trigger” timing such that power is delivered at terminal stance, i.e., approximately at the time the ankle dorsiflexion is at a maximum level. Adjusting the power timing may include adjusting an exponent parameter in a positive-feedback system that delivers the power. Whether the timing is correct may be verified by the wearer. The operator may also verify that gait cycle is balanced and that a desired knee flexion is maintained during stance. Alternatively, or in addition, data signals corresponding to various parameters of the powered device may be received therefrom, and used to guide adjustment of the power trigger. Adjusting the timing of application peak power enables timely powered plantar flexion at toe off. This adjustment can also allow the wearer to take a full step using the leg having any injured muscle tissue.

When a wearer prefers to walk at a speed slower than the SSWS, the parameters of the powered device may be readjusted, to provide a biomimetic response corresponding to the slower speed, in part, and also to conserve battery life, in part. To this end, in step 316, the wearer is asked to walk at a slower speed, and the power is adjusted down from an initial value (e.g., 100%) which may be the power setting for the SSWS, to a “slow-walk mode” setting. The power may be adjusted according to the wearer's preference and/or according to parameters such as heel rise, walking-step length, and tracking performed during the swing phase. The values of these parameters may be received from the powered device as data signals and/or may be observed by the operator similarly as described in the step 310.

The slow-walk mode can also be used to adjust parameters according to the wearer's ambulation pattern, e.g., when the wearer does not take full steps or shuffles. In the step 318, a threshold at which the BiOM Ankle's slow-walk mode, also called “low-power” mode engages can also be adjusted. In addition to conserving battery life, the slow-walk mode setting can increase walking efficiency at a slower speed and can also enhance the real-time response of the ankle.

In step 320, the hard-stop sensitivity of the powered device can be adjusted. The hard stop corresponds to the wearer's walking speed, and the maximum dorsiflexion angle embodied within the design of the powered device. Generally, the small angular displacements that occur after engagement of the hard-stop are used to estimate ankle torque. This torque is an important input to the positive force feedback. By slightly changing this torque model parameter, an increased or decreased reflex torque adjustment can be made which is particularly useful for slow walking performance. The hard-stop sensitivity can be increased such that the powered device delivers more power (e.g., compared to the power setting for the SSWS) early in the gait cycle, and the hard-stop sensitivity can be decreased such that relatively less power is delivered later in the gait cycle.

The communication device can also facilitate adapting the powered device to terrain and/or the wearer's activity. For example, power and/or timing of peak power can be adjusted to provide additional power when the wearer is walking upslope. These adjustment can be made as described with reference to the steps 312, 314. If the wearer is walking downslope, these parameters can be adjusted to provide adequate plantar flexion and knee stability when the foot rests flat on a surface. The phone (the communication system, in general) can set the powered device to operate in “Stair Mode.” In this mode, the wearer is asked to ascend stairs, landing on the toe of a leg having affected muscle tissue. Various device parameters may be adjusted as described above with reference to the steps (power applied, in particular, as described in step 312) so that the powered augmentation device delivers at least a biomimetic response. The wearer may also be asked to descend stairs and the device parameters may be adjusted for descending stairs.

In step 328, the various device parameters adjusted in any of these steps can be saved for subsequent use. The tuning/adjusting described above may be performed in a training mode in one or more training sessions. More than one sets of settings, each set corresponding to one training session, may be saved for each joint (ankle, knee, hip, etc.), and may be restored during a subsequent use. The tuning/adjusting described above may also be performed during actual use of the powered device.

The ranges of various parameters described above with reference to FIGS. 3a-3e according to one embodiment are shown in a Table in FIG. 4. The Table shows additional parameters of the powered device that may be adjusted, so as to achieve and maintain at least a biomimetic response, and typical ranges of those parameters. It should be understood that the parameters shown in the Table are illustrative, and that according to some embodiments fewer or additional parameters may be controlled. Some other embodiments may control different parameters, and/or the typical ranges within which the parameters can be set may be different.

Accordingly, various embodiments of the invention may be used to initially set up or tune an augmentation device at the time of manufacture and commissioning to achieve a biomimetic response, on an individual employed as a model for this purpose. The device can then be fitted to the end user and the device further adjusted to tailor the device to that individual. As described, achieving a biomimetic response is a primary objective, in order to order to normalize user function and satisfaction. However, the methods and systems according to various embodiments of the invention may be used to achieve a greater than biomimetic response, or vary one or more of the response parameters as desired by the user or the user's physician, therapist, or clinician. Naturally, as will be understood, changes in a user's weight, strength, endurance or other physical condition may require further monitoring and adjustment of the device over time. Accordingly, the systems and associated methods may be utilized on regular time intervals or whenever a change to user or device occurs that warrants checking.

While the invention has been particularly shown and described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is thus indicated by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced. 

What is claimed is:
 1. A communication system for interfacing with a powered human augmentation device, the system comprising: a wireless transmitter for adjusting a parameter of the powered device within a gait cycle by transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter, providing at least a biomimetic response to a wearer of the powered device. 2-20. (canceled) 